[paparazzi-commits] [4107] tuning

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[paparazzi-commits] [4107] tuning

From:	Pascal Brisset
Subject:	[paparazzi-commits] [4107] tuning
Date:	Tue, 08 Sep 2009 19:59:29 +0000
Revision: 4107
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4107
Author:   hecto
Date:     2009-09-08 19:59:29 +0000 (Tue, 08 Sep 2009)
Log Message:
-----------
 tuning

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/firestorm.xml
    paparazzi3/trunk/conf/airframes/funjet1.xml
    paparazzi3/trunk/conf/airframes/slayer2.xml

Modified: paparazzi3/trunk/conf/airframes/firestorm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/firestorm.xml       2009-09-08 19:17:35 UTC 
(rev 4106)
+++ paparazzi3/trunk/conf/airframes/firestorm.xml       2009-09-08 19:59:29 UTC 
(rev 4107)
@@ -14,37 +14,39 @@
 
 <!-- commands section -->
   <servos>
-    <servo name="MOTOR"         no="1" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1500" max="2000"/>
-    <servo name="HATCH"         no="3" min="1000" neutral="1500" max="2000"/>
+    <servo name="MOTOR" no="3" min="1250" neutral="1250" max="1800"/>
+    <servo name="AILEVON_LEFT" no="4" min="1850" neutral="1370" max="1000"/>
+    <servo name="AILEVON_RIGHT" no="5" min="1000" neutral="1515" max="1870"/>
+    <servo name="HATCH" no="6" min="1350" neutral="1900" max="1900"/>
   </servos>
 
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="HATCH"    failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="HATCH" failsafe_value="0"/>
   </commands>
 
   <rc_commands>
     <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
-    <set command="HATCH"    value="@GAIN1"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
+    <set command="HATCH" value="@GAIN1"/>
   </rc_commands>
 
   <section name="MIXER">
     <define name="AILEVON_AILERON_RATE" value="0.75"/>
     <define name="AILEVON_ELEVATOR_RATE" value="0.75"/>
+    <define name="AILERON_DIFF" value="0.5"/>
   </section>
 
   <command_laws>
-    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
-    <set servo="MOTOR"           value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
-    <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="HATCH" value="@HATCH"/>
+    <set servo="AILEVON_LEFT" value="$elevator + ($aileron > 0 ? 1 : 
AILERON_DIFF) * $aileron"/>
+    <set servo="AILEVON_RIGHT" value="$elevator - ($aileron > 0 ? AILERON_DIFF 
: 1) * $aileron"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
@@ -53,8 +55,8 @@
   </section>
 
   <section name="adc" prefix="ADC_CHANNEL_">
-    <define name="IR1" value="ADC_1"/>
-    <define name="IR2" value="ADC_2"/>
+    <define name="IR1" value="ADC_2"/>
+    <define name="IR2" value="ADC_1"/>
     <define name="IR_TOP" value="ADC_0"/>
     <define name="IR_NB_SAMPLES" value="16"/>
 
@@ -70,15 +72,15 @@
 
     <define name="LATERAL_CORRECTION" value="1."/>
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
-    <define name="VERTICAL_CORRECTION" value="1."/>
+    <define name="VERTICAL_CORRECTION" value="1.2"/>
 
     <define name="HORIZ_SENSOR_TILTED" value="1"/>
-    <define name="IR1_SIGN" value="1"/>
+    <define name="IR1_SIGN" value="-1"/>
     <define name="IR2_SIGN" value="1"/>
-    <define name="TOP_SIGN" value="1"/>
+    <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="3.49504256248" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-0.114591561258" unit="deg"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
@@ -94,13 +96,15 @@
     <define name="ADXRS300_RESISTOR_BRIDGE" value="(3.3/(3.3+1.8))"/>
     <define name="ADXRS300_SENSITIVITY" value="5" unit="mV/(deg/s)"/>
     <define name="ROLL_SCALE" 
value="3.3*1000./1024./(GYRO_ADXRS300_SENSITIVITY*GYRO_ADXRS300_RESISTOR_BRIDGE)"
 unit="deg/s/adc_unit"/>
-    <define name="ROLL_DIRECTION" value="-1."/> 
+    <define name="ROLL_DIRECTION" value="1."/> 
   </section>
 
   <section name="BAT">
     <define name="MILLIAMP_AT_FULL_THROTTLE" value="2000"/>
 
     <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+
+    <define name="MilliAmpereOfAdc(_adc)" value="(_adc-162)*17.4"/>
   </section>
  
   <section name="MISC">
@@ -114,6 +118,8 @@
 
     <define name="DEFAULT_CIRCLE_RADIUS" value="80."/>
     <define name="MIN_CIRCLE_RADIUS" value="50."/>
+
+    <define name="UNLOCKED_HOME_MODE" value="TRUE"/>
   </section>
  
   <section name="VERTICAL CONTROL" prefix="V_CTL_">
@@ -125,15 +131,15 @@
     <define name="ALTITUDE_MAX_CLIMB" value="2."/>
 
     <!-- auto throttle inner loop -->
-    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.35"/>
+    <define name="AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE" value="0.5"/>
     <define name="AUTO_THROTTLE_MIN_CRUISE_THROTTLE" value="0.25"/>
     <define name="AUTO_THROTTLE_MAX_CRUISE_THROTTLE" value="0.80"/>
     <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
-    <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
+    <define name="AUTO_THROTTLE_DASH_TRIM" value="-2500"/>
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" 
unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_PGAIN" value="-0.02"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
-    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
+    <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
 
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
@@ -146,22 +152,22 @@
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-0.8"/>
+    <define name="COURSE_PGAIN" value="-1.23500001431"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="PITCH_PGAIN" value="-10000."/>
+    <define name="PITCH_PGAIN" value="-14255.3193359"/>
     <define name="PITCH_DGAIN" value="1.5"/>
 
-    <define name="ELEVATOR_OF_ROLL" value="2500"/>
+    <define name="ELEVATOR_OF_ROLL" value="2000."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
-    <define name="ROLL_RATE_GAIN" value="-1500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="-12000"/>
+    <define name="ROLL_RATE_GAIN" value="-2500"/>
 
     <define name="ROLL_KFF" value="-500"/>
-    <define name="ROLL_IGAIN" value="-500"/>
+    <define name="ROLL_IGAIN" value="-00"/>
     <define name="PITCH_IGAIN" value="-500"/>
   </section>
 
@@ -174,7 +180,7 @@
   <section name="AGGRESSIVE" prefix="AGR_">
     <define name="BLEND_START" value="20"/><!-- Altitude Error to Initiate 
Aggressive Climb CANNOT BE ZERO!!-->
     <define name="BLEND_END" value="10"/><!-- Altitude Error to Blend 
Aggressive to Regular Climb Modes  CANNOT BE ZERO!!-->
-    <define name="CLIMB_THROTTLE" value="0.6"/><!-- Gaz for Aggressive Climb 
-->
+    <define name="CLIMB_THROTTLE" value="0.75"/><!-- Gaz for Aggressive Climb 
-->
     <define name="CLIMB_PITCH" value="0.20"/><!-- Pitch for Aggressive Climb 
-->
     <define name="DESCENT_THROTTLE" value="0.1"/><!-- Gaz for Aggressive 
Decent -->
     <define name="DESCENT_PITCH" value="-0.15"/><!-- Pitch for Aggressive 
Decent -->
@@ -228,23 +234,30 @@
 ap.CFLAGS += -DADC -DUSE_ADC_0 -DUSE_ADC_1 -DUSE_ADC_2 -DUSE_ADC_3
 ap.srcs += $(SRC_ARCH)/adc_hw.c
 
-ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400
-# -DGPS_LED=2
+ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B38400 
-DGPS_LED=2
+#ap.CFLAGS += -DGPS -DUBX -DUSE_UART1 -DGPS_LINK=Uart1 -DUART1_BAUD=B9600 
-DGPS_LED=2
+#ap.CFLAGS += -DGPS_CONFIGURE -DGPS_BAUD=38400
+
 ap.srcs += gps_ubx.c gps.c latlong.c
 
 ap.CFLAGS += -DINFRARED -DALT_KALMAN
 ap.srcs += infrared.c estimator.c
 
 ap.CFLAGS += -DNAV -DAGR_CLIMB -DLOITER_TRIM
-ap.srcs += nav.c fw_h_ctl_a.c fw_v_ctl.c
+ap.srcs += nav.c fw_h_ctl.c fw_v_ctl.c
 
 
 ap.CFLAGS += -DGYRO -DADXRS150
 ap.srcs += gyro.c nav_line.c
 ap.srcs += nav_survey_rectangle.c
 
+# Current sensor; Neutral=162
+#ap.CFLAGS += -DUSE_ADC_7 -DUSE_ADC_GENERIC -DADC_CHANNEL_GENERIC1=ADC_7 
-DADC_CHANNEL_GENERIC_NB_SAMPLES=16
+#ap.srcs += adc_generic.c
+
+ap.CFLAGS += -DUSE_ADC_7 -DADC_CHANNEL_CURRENT=ADC_7
+
 ap.CFLAGS += -DUSE_MODULES
-sim.CFLAGS += -DUSE_MODULES
 
 # Config for SITL simulation
 #include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
@@ -259,5 +272,6 @@
 
 sim.srcs += nav_line.c nav_survey_rectangle.c
 
+sim.CFLAGS += -DUSE_MODULES
   </makefile>
 </airframe>

Modified: paparazzi3/trunk/conf/airframes/funjet1.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/funjet1.xml 2009-09-08 19:17:35 UTC (rev 
4106)
+++ paparazzi3/trunk/conf/airframes/funjet1.xml 2009-09-08 19:59:29 UTC (rev 
4107)
@@ -15,22 +15,22 @@
 
 <!-- commands section -->
   <servos>
-    <servo name="MOTOR"         no="0" min="1000" neutral="1000" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="2" min="1130" neutral="1575" max="1880"/>
+    <servo name="MOTOR" no="0" min="1000" neutral="1000" max="2000"/>
+    <servo name="AILEVON_LEFT" no="2" min="1130" neutral="1575" max="1880"/>
     <servo name="AILEVON_RIGHT" no="6" min="1980" neutral="1465" max="1170"/>
   </servos>
 
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="HATCH"    failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="HATCH" failsafe_value="0"/>
   </commands>
 
   <rc_commands>
     <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
   </rc_commands>
 
   <section name="MIXER">
@@ -39,10 +39,10 @@
   </section>
 
   <command_laws>
-    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
-    <set servo="MOTOR"           value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="MOTOR" value="@THROTTLE"/>
+    <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
   </command_laws>
 
@@ -75,7 +75,7 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="-3.6" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="-1.43239450455" unit="deg"/>
     <define name="PITCH_NEUTRAL_DEFAULT" value="17" unit="deg"/>
 
     <define name="CORRECTION_UP" value="1."/>
@@ -108,8 +108,8 @@
     <define name="CARROT" value="5." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
-    <define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/>
-<!--    <define name="NO_XBEE_API_INIT" value="TRUE"/>-->
+    <!-- define name="XBEE_INIT" value="\"ATPL2\rATRN1\rATTT80\r\""/ -->
+    <!-- define name="NO_XBEE_API_INIT" value="TRUE"/ -->
     <define name="ALT_KALMAN_ENABLED" value="TRUE"/>
 
     <define name="TRIGGER_DELAY" value="1."/>
@@ -147,19 +147,19 @@
   </section>
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-    <define name="COURSE_PGAIN" value="-0.8"/>
+    <define name="COURSE_PGAIN" value="-1.20599997044"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="PITCH_PGAIN" value="-10000."/>
+    <define name="PITCH_PGAIN" value="-7627.11914062"/>
     <define name="PITCH_DGAIN" value="1.5"/>
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
-    <define name="ROLL_RATE_GAIN" value="-1500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="-12584.7460938"/>
+    <define name="ROLL_RATE_GAIN" value="-1779.66101074"/>
 
     <define name="ROLL_KFF" value="-500"/>
     <define name="ROLL_IGAIN" value="-500"/>
@@ -200,12 +200,12 @@
        <define name="HOME_RADIUS" value="100" unit="m"/>
 </section>
  
-<!-- -->
+<!--
  <section name="DATALINK" prefix="DATALINK_">
     <define name="DEVICE_TYPE" value="XBEE"/>
     <define name="DEVICE_ADDRESS" value="...."/>
   </section>
-<!-- -->
+-->
 
   <section name="Digital camera telecommand">
     <!-- IOs are seen as LEDs -->
@@ -239,12 +239,12 @@
 ap.CFLAGS += -DRADIO_CONTROL
 ap.srcs += radio_control.c $(SRC_ARCH)/ppm_hw.c  
 
-ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport 
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
-ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
+#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=XBeeTransport 
-DXBEE_UART=Uart1 -DDATALINK=XBEE -DUART1_BAUD=B9600
+#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c xbee.c
 
 #TRANSPARENT
-#ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 
-DDATALINK=PPRZ -DUART1_BAUD=B9600
-#ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
+ap.CFLAGS += -DDOWNLINK -DUSE_UART1 -DDOWNLINK_TRANSPORT=PprzTransport 
-DDOWNLINK_FBW_DEVICE=Uart1 -DDOWNLINK_AP_DEVICE=Uart1 -DPPRZ_UART=Uart1 
-DDATALINK=PPRZ -DUART1_BAUD=B9600
+ap.srcs += downlink.c $(SRC_ARCH)/uart_hw.c datalink.c pprz_transport.c
 
 
 ap.CFLAGS += -DINTER_MCU

Modified: paparazzi3/trunk/conf/airframes/slayer2.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/slayer2.xml 2009-09-08 19:17:35 UTC (rev 
4106)
+++ paparazzi3/trunk/conf/airframes/slayer2.xml 2009-09-08 19:59:29 UTC (rev 
4107)
@@ -10,22 +10,22 @@
 <!-- commands section -->
   <servos>
     <servo name="AILEVON_RIGHT" no="1" min="1000" neutral="1500" max="2000"/>
-    <servo name="AILEVON_LEFT"  no="0" min="2000" neutral="1480" max="900"/>
-    <servo name="THROTTLE"      no="4" min="1250" neutral="1250" max="1850"/>
-    <servo name="HATCH"         no="3" min="2000" neutral="2000" max="1000"/>
+    <servo name="AILEVON_LEFT" no="0" min="2000" neutral="1480" max="900"/>
+    <servo name="THROTTLE" no="4" min="1250" neutral="1250" max="1850"/>
+    <servo name="HATCH" no="3" min="2000" neutral="2000" max="1000"/>
   </servos>
 
   <commands>
     <axis name="THROTTLE" failsafe_value="0"/>
-    <axis name="ROLL"     failsafe_value="0"/>
-    <axis name="PITCH"    failsafe_value="0"/>
-    <axis name="HATCH"    failsafe_value="0"/>
+    <axis name="ROLL" failsafe_value="0"/>
+    <axis name="PITCH" failsafe_value="0"/>
+    <axis name="HATCH" failsafe_value="0"/>
   </commands>
 
   <rc_commands>
     <set command="THROTTLE" value="@THROTTLE"/>
-    <set command="ROLL"     value="@ROLL"/>
-    <set command="PITCH"    value="@PITCH"/>
+    <set command="ROLL" value="@ROLL"/>
+    <set command="PITCH" value="@PITCH"/>
   </rc_commands>
 
   <section name="MIXER">
@@ -34,12 +34,12 @@
   </section>
 
   <command_laws>
-    <let var="aileron"  value="@ROLL  * AILEVON_AILERON_RATE"/>
+    <let var="aileron" value="@ROLL  * AILEVON_AILERON_RATE"/>
     <let var="elevator" value="@PITCH * AILEVON_ELEVATOR_RATE"/>  
     <set servo="THROTTLE" value="@THROTTLE"/>
-    <set servo="AILEVON_LEFT"  value="$elevator + $aileron"/>
+    <set servo="AILEVON_LEFT" value="$elevator + $aileron"/>
     <set servo="AILEVON_RIGHT" value="$elevator - $aileron"/>
-     <set servo="HATCH"           value="@HATCH"/>
+     <set servo="HATCH" value="@HATCH"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
@@ -52,8 +52,8 @@
     <define name="IR2" value="ADC_0"/>
     <define name="IR_TOP" value="ADC_4"/>
     <define name="IR_NB_SAMPLES" value="16"/>
-    <define name="GYRO_ROLL" value="ADC_6"/>
-    <define name="GYRO_TEMP" value="ADC_5"/>
+    <define name="GYRO_ROLL" value="ADC_5"/>
+<!--    <define name="GYRO_TEMP" value="ADC_6"/> -->
     <define name="GYRO_NB_SAMPLES" value="16"/>
   </section>
 
@@ -66,8 +66,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="LATERAL_CORRECTION" value=".5"/>
-    <define name="LONGITUDINAL_CORRECTION" value=".5"/>
+    <define name="LATERAL_CORRECTION" value="0.356000006199"/>
+    <define name="LONGITUDINAL_CORRECTION" value="0.381000012159"/>
     <define name="VERTICAL_CORRECTION" value="1.5"/>
 
     <define name="ROLL_NEUTRAL_DEFAULT" value="-9" unit="deg"/>
@@ -81,8 +81,9 @@
 
  <section name="GYRO" prefix="GYRO_">
     <define name="ADC_ROLL_NEUTRAL" value="443"/>
-    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
+<!--    <define name="ADC_TEMP_NEUTRAL" value="476"/>   
     <define name="ADC_TEMP_SLOPE" value="0"/>  
+-->
     <define name="ROLL_SCALE" value="1.3846"/>
     <define name="ROLL_DIRECTION" value="-1."/> 
   </section>
@@ -94,6 +95,8 @@
  
  <section name="MISC">
     <define name="NOMINAL_AIRSPEED" value="20." unit="m/s"/>
+    <define name="MAXIMUM_AIRSPEED" value="25." unit="m/s"/>
+    <define name="MINIMUM_AIRSPEED" value="15." unit="m/s"/>
     <define name="CARROT" value="3." unit="s"/>
     <define name="KILL_MODE_DISTANCE" value="(1.5*MAX_DIST_FROM_HOME)"/>
     <define name="CONTROL_RATE" value="60" unit="Hz"/>
@@ -262,9 +265,22 @@
 
 
 # Config for SITL simulation
-include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
-sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN 
-DUSE_BARO_MS5534A
-sim.srcs += nav_survey_rectangle.c $(SRC_ARCH)/sim_baro.c nav_line.c
+# Config for SITL simulation
+#include $(PAPARAZZI_SRC)/conf/autopilot/sitl.makefile
+sim.ARCHDIR = $(ARCHI)
+sim.ARCH = sitl
+sim.TARGET = autopilot
+sim.TARGETDIR = autopilot
+sim.CFLAGS += -DSITL -DAP -DFBW -DRADIO_CONTROL -DINTER_MCU -DDOWNLINK 
-DDOWNLINK_TRANSPORT=IvyTransport -DINFRARED -DNAV -DLED -DWIND_INFO
+sim.srcs = latlong.c radio_control.c downlink.c commands.c gps.c inter_mcu.c 
infrared.c fw_v_ctl.c nav.c estimator.c sys_time.c main_fbw.c main_ap.c 
datalink.c $(SRC_ARCH)/ppm_hw.c $(SRC_ARCH)/sim_gps.c $(SRC_ARCH)/sim_ir.c 
$(SRC_ARCH)/sim_ap.c $(SRC_ARCH)/ivy_transport.c $(SRC_ARCH)/sim_adc_generic.c 
$(SRC_ARCH)/led_hw.c
 
+sim.CFLAGS += -DBOARD_CONFIG=\"tiny.h\" -DAGR_CLIMB -DLOITER_TRIM -DALT_KALMAN 
 -DUSE_BARO_MS5534A 
+
+sim.srcs += nav_survey_rectangle.c nav_line.c $(SRC_ARCH)/sim_baro.c 
+
+sim.srcs += fw_h_ctl.c
+# sim.srcs += fw_h_ctl_a.c
+# sim.CFLAGS += -DH_CTL_ROLL_IGAIN=-500 -DH_CTL_ROLL_KFF=-500
+
   </makefile>
 </airframe>
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